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Pull all example launchfiles into separate file with literalinclude (backport #5155) #5175

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20 changes: 17 additions & 3 deletions source/How-To-Guides/Launch-file-different-formats.rst
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Expand Up @@ -2,7 +2,7 @@

Guides/Launch-file-different-formats

Using Python, XML, and YAML for ROS 2 Launch Files
Using XML, YAML, and Python for ROS 2 Launch Files
==================================================

.. contents:: Table of Contents
Expand All @@ -29,6 +29,7 @@ Each launch file performs the following actions:

.. group-tab:: XML

<<<<<<< HEAD
.. code-block:: xml

<!-- example.launch.xml -->
Expand Down Expand Up @@ -136,11 +137,22 @@ Each launch file performs the following actions:
-
from: "/output/cmd_vel"
to: "/turtlesim2/turtle1/cmd_vel"
=======
.. literalinclude:: launch/different_formats_launch.xml
:language: xml

.. group-tab:: YAML

.. literalinclude:: launch/different_formats_launch.yaml
:language: yaml
>>>>>>> 666df3e (Pull all example launchfiles into separate file with `literalinclude` (#5155))

.. group-tab:: Python

.. code-block:: python
.. literalinclude:: launch/different_formats_launch.py
:language: python

<<<<<<< HEAD
# example.launch.py

import os
Expand Down Expand Up @@ -239,6 +251,8 @@ Each launch file performs the following actions:
turtlesim_node_with_parameters,
forward_turtlesim_commands_to_second_turtlesim_node,
])
=======
>>>>>>> 666df3e (Pull all example launchfiles into separate file with `literalinclude` (#5155))

Using the Launch files from the command line
--------------------------------------------
Expand Down Expand Up @@ -287,7 +301,7 @@ To test that the remapping is working, you can control the turtles by running th

.. _launch-file-different-formats-which:

Python, XML, or YAML: Which should I use?
XML, YAML, or Python: Which should I use?
-----------------------------------------

.. note::
Expand Down
210 changes: 13 additions & 197 deletions source/How-To-Guides/Launching-composable-nodes.rst
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Expand Up @@ -31,108 +31,18 @@ The launch files all do the following:

.. group-tab:: XML

.. code-block:: xml

<launch>
<node_container pkg="rclcpp_components" exec="component_container" name="image_container" namespace="">
<composable_node pkg="image_tools" plugin="image_tools::Cam2Image" name="cam2image" namespace="">
<remap from="/image" to="/burgerimage" />
<param name="width" value="320" />
<param name="height" value="240" />
<param name="burger_mode" value="true" />
<param name="history" value="keep_last" />
<extra_arg name="use_intra_process_comms" value="true" />
</composable_node>
<composable_node pkg="image_tools" plugin="image_tools::ShowImage" name="showimage" namespace="">
<remap from="/image" to="/burgerimage" />
<param name="history" value="keep_last" />
<extra_arg name="use_intra_process_comms" value="true" />
</composable_node>
</node_container>
</launch>
.. literalinclude:: launch/composition_launch.xml
:language: xml

.. group-tab:: YAML

.. code-block:: yaml

launch:

- node_container:
pkg: rclcpp_components
exec: component_container
name: image_container
namespace: ''
composable_node:
- pkg: image_tools
plugin: image_tools::Cam2Image
name: cam2image
namespace: ''
remap:
- from: /image
to: /burgerimage
param:
- name: width
value: 320
- name: height
value: 240
- name: burger_mode
value: true
- name: history
value: keep_last
extra_arg:
- name: use_intra_process_comms
value: 'true'

- pkg: image_tools
plugin: image_tools::ShowImage
name: showimage
namespace: ''
remap:
- from: /image
to: /burgerimage
param:
- name: history
value: keep_last
extra_arg:
- name: use_intra_process_comms
value: 'true'
.. literalinclude:: launch/composition_launch.yaml
:language: yaml

.. group-tab:: Python

.. code-block:: python

import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
"""Generate launch description with multiple components."""
container = ComposableNodeContainer(
name='image_container',
namespace='',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
ComposableNode(
package='image_tools',
plugin='image_tools::Cam2Image',
name='cam2image',
remappings=[('/image', '/burgerimage')],
parameters=[{'width': 320, 'height': 240, 'burger_mode': True, 'history': 'keep_last'}],
extra_arguments=[{'use_intra_process_comms': True}]),
ComposableNode(
package='image_tools',
plugin='image_tools::ShowImage',
name='showimage',
remappings=[('/image', '/burgerimage')],
parameters=[{'history': 'keep_last'}],
extra_arguments=[{'use_intra_process_comms': True}])
],
output='both',
)

return launch.LaunchDescription([container])
.. literalinclude:: launch/composition_launch.py
:language: python


Loading composable nodes into an existing container
Expand All @@ -147,112 +57,18 @@ The below example launches the same nodes as above.

.. group-tab:: XML

.. code-block:: xml

<launch>
<node pkg="rclcpp_components" exec="component_container" name="image_container">
</node>
<load_composable_node target="image_container">
<composable_node pkg="image_tools" plugin="image_tools::Cam2Image" name="cam2image">
<remap from="/image" to="/burgerimage" />
<param name="width" value="320" />
<param name="height" value="240" />
<param name="burger_mode" value="true" />
<param name="history" value="keep_last" />
<extra_arg name="use_intra_process_comms" value="true" />
</composable_node>
<composable_node pkg="image_tools" plugin="image_tools::ShowImage" name="showimage" namespace="">
<remap from="/image" to="/burgerimage" />
<param name="history" value="keep_last" />
<extra_arg name="use_intra_process_comms" value="true" />
</composable_node>
</load_composable_node>
</launch>
.. literalinclude:: launch/composition_load_launch.xml
:language: xml

.. group-tab:: YAML

.. code-block:: yaml

launch:
- node_container:
pkg: rclcpp_components
exec: component_container
name: image_container
namespace: ''
composable_node:
- pkg: image_tools
plugin: image_tools::Cam2Image
name: cam2image
namespace: ''
remap:
- from: /image
to: /burgerimage
param:
- name: width
value: 320
- name: height
value: 240
- name: burger_mode
value: true
- name: history
value: keep_last
extra_arg:
- name: use_intra_process_comms
value: 'true'

- pkg: image_tools
plugin: image_tools::ShowImage
name: showimage
namespace: ''
remap:
- from: /image
to: /burgerimage
param:
- name: history
value: keep_last
extra_arg:
- name: use_intra_process_comms
value: 'true'
.. literalinclude:: launch/composition_load_launch.yaml
:language: yaml

.. group-tab:: Python

.. code-block:: python

from launch import LaunchDescription
from launch_ros.actions import LoadComposableNodes, Node
from launch_ros.descriptions import ComposableNode

def generate_launch_description():
container = Node(
name='image_container',
package='rclcpp_components',
executable='component_container',
output='both',
)

load_composable_nodes = LoadComposableNodes(
target_container='image_container',
composable_node_descriptions=[
ComposableNode(
package='image_tools',
plugin='image_tools::Cam2Image',
name='cam2image',
remappings=[('/image', '/burgerimage')],
parameters=[{'width': 320, 'height': 240, 'burger_mode': True, 'history': 'keep_last'}],
extra_arguments=[{'use_intra_process_comms': True}],
),
ComposableNode(
package='image_tools',
plugin='image_tools::ShowImage',
name='showimage',
remappings=[('/image', '/burgerimage')],
parameters=[{'history': 'keep_last'}],
extra_arguments=[{'use_intra_process_comms': True}]
),
],
)

return LaunchDescription([container, load_composable_nodes])
.. literalinclude:: launch/composition_load_launch.py
:language: python


Using the Launch files from the command-line
Expand All @@ -271,7 +87,7 @@ Intra-process communications
All of the above examples use an extra argument to setup intra-process communication between the nodes.
For more information on what intra-process communications are, see the :doc:`intra-process comms tutorial <../Tutorials/Demos/Intra-Process-Communication>`.

Python, XML, or YAML: Which should I use?
XML, YAML, or Python: Which should I use?
-----------------------------------------

See the :ref:`discussion <launch-file-different-formats-which>` in :doc:`Launch-file-different-formats` for more information.
36 changes: 36 additions & 0 deletions source/How-To-Guides/launch/composition_launch.py
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@@ -0,0 +1,36 @@
import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
"""Generate launch description with multiple components."""
return launch.LaunchDescription([
ComposableNodeContainer(
name='image_container',
namespace='',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
ComposableNode(
package='image_tools',
plugin='image_tools::Cam2Image',
name='cam2image',
remappings=[('/image', '/burgerimage')],
parameters=[{
'width': 320,
'height': 240,
'burger_mode': True,
'history': 'keep_last'}],
extra_arguments=[{'use_intra_process_comms': True}]),
ComposableNode(
package='image_tools',
plugin='image_tools::ShowImage',
name='showimage',
remappings=[('/image', '/burgerimage')],
parameters=[{'history': 'keep_last'}],
extra_arguments=[{'use_intra_process_comms': True}])
],
output='both',
),
])
18 changes: 18 additions & 0 deletions source/How-To-Guides/launch/composition_launch.xml
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@@ -0,0 +1,18 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<node_container pkg="rclcpp_components" exec="component_container" name="image_container">
<composable_node pkg="image_tools" plugin="image_tools::Cam2Image" name="cam2image">
<remap from="/image" to="/burgerimage" />
<param name="width" value="320" />
<param name="height" value="240" />
<param name="burger_mode" value="true" />
<param name="history" value="keep_last" />
<extra_arg name="use_intra_process_comms" value="true" />
</composable_node>
<composable_node pkg="image_tools" plugin="image_tools::ShowImage" name="showimage">
<remap from="/image" to="/burgerimage" />
<param name="history" value="keep_last" />
<extra_arg name="use_intra_process_comms" value="true" />
</composable_node>
</node_container>
</launch>
39 changes: 39 additions & 0 deletions source/How-To-Guides/launch/composition_launch.yaml
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@@ -0,0 +1,39 @@
%YAML 1.2
---
launch:
- node_container:
pkg: rclcpp_components
exec: component_container
name: image_container
composable_node:
- pkg: image_tools
plugin: image_tools::Cam2Image
name: cam2image
remap:
- from: /image
to: /burgerimage
param:
- name: width
value: 320
- name: height
value: 240
- name: burger_mode
value: true
- name: history
value: keep_last
extra_arg:
- name: use_intra_process_comms
value: true

- pkg: image_tools
plugin: image_tools::ShowImage
name: showimage
remap:
- from: /image
to: /burgerimage
param:
- name: history
value: keep_last
extra_arg:
- name: use_intra_process_comms
value: true
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